EP2746126B1 - Fahrerassistenzsystem - Google Patents

Fahrerassistenzsystem Download PDF

Info

Publication number
EP2746126B1
EP2746126B1 EP12197638.5A EP12197638A EP2746126B1 EP 2746126 B1 EP2746126 B1 EP 2746126B1 EP 12197638 A EP12197638 A EP 12197638A EP 2746126 B1 EP2746126 B1 EP 2746126B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
driver
activation
movement change
critical state
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP12197638.5A
Other languages
English (en)
French (fr)
Other versions
EP2746126A1 (de
Inventor
Christian Goerick
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Research Institute Europe GmbH
Original Assignee
Honda Research Institute Europe GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Research Institute Europe GmbH filed Critical Honda Research Institute Europe GmbH
Priority to EP12197638.5A priority Critical patent/EP2746126B1/de
Priority to JP2013241538A priority patent/JP5792267B2/ja
Priority to US14/098,642 priority patent/US9446729B2/en
Publication of EP2746126A1 publication Critical patent/EP2746126A1/de
Application granted granted Critical
Publication of EP2746126B1 publication Critical patent/EP2746126B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/022—Collision avoidance systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • B60T2201/024—Collision mitigation systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration

Definitions

  • the invention relates to a driver assistance system and a method for vehicles such as cars, motorbikes, ships or aircrafts.
  • the invention also relates to a vehicle employing such a system/method.
  • DAS Driver assistant systems
  • ego vehicle is the vehicle the driver assistance system is deployed in, perceiving action of other participants.
  • Environment is the are covered by the input field of the sensor(s) of the DAS.
  • These systems usually contain a subsystem for warning and action generation, including some kind of inference and decision making process.
  • document US 6,622,076 teaches a device which compares a current trajectory of a vehicle to a desired trajectory of the vehicle. In case of a mismatch between the two trajectories, without turning/moving the steering wheel angle, a haptic communication via the steering wheel is performed. A communication is achieved by a vibration wave on the surface of the steering wheel. Also, the actuation of one of the front brakes can be used for changing the vehicle direction to the desired trajectory.
  • Document WO 2006/045667 A1 describes a method for driver support in a vehicle, in which a driver assistance system monitors a driving situation of the vehicle. Support takes place after a confirmation or after the absence of an abort instruction, a dialogue about the extent of support the driver wishes being conducted between the driver and the driver assistance system.
  • Document US7363155 describes a driver assistant system based on trajectories including the technical means of a short braking impulse for informing the driver about a risk, but without steering and acceleration.
  • Known systems typically communicate a warning of an upcoming risk to the driver and usually employ some kind of visual, auditory or haptic human machine interaction (HMI) with the driver, e.g. communicating the risk to the driver by vibration, flashing alarm messages, .... This means the perceived state of the car or the car environment or an action suggestion is communicated.
  • HMI human machine interaction
  • Document DE 10 2007 060 852 A describes a vehicle brake assistant, in which a braking operation is activated for a predetermined time, if a distance to a collision calculated is surpassed.
  • Document DE 10 2010 002 105 A describes a driver assistance system, with which a necessary steering action and/or a necessary braking action is indicated to the driver, and/or an automatic steering action and/or an automatic braking action is performed in order to prevent a collision with a detected object.
  • the invention targets the mentioned problems by using the actuation of vehicles for more than the pure communication with the driver. All motions of the vehicle have a physical effect but also have an interpretation as a communicative act. The results are communicative interpretations of physical car vehicle movements of actuators of the vehicle, called “CarGestures” in the following, which shall then interpreted by the driver of the vehicle.
  • CarGestures can be generally applied to driver driven vehicles, e.g. boats, motorbikes, trucks, construction vehicles, etc.
  • CarGestures are actuations of actuators (e.g. steering wheel, accelerator, brakes,%) of the vehicle that are detectable (visually, acoustically and/or haptically) visible, by other traffic participants and/or the driver of the vehicle and hence convey information from the vehicle being actuated to at least some/one of the other traffic participants.
  • actuators e.g. steering wheel, accelerator, brakes,
  • an actuation in this sense leads to a change in physical movement parameters of the vehicle, e.g. speed, position offset, driving dynamics, acceleration, deceleration,
  • Fig. 1 shows an example for a driver assistance system 10 for executing the method according to the present invention, which is now described also in view of Fig. 2 .
  • the driver assistance system 10 uses a processing module 11 employed in an evaluation of a driving situation, e.g. based on output signals provided by a sensing module 30, which sense the vehicle's environment, the vehicle status and/or the behavior of the driver by an evaluation module 50 (shown schematically in Fig. 2 ).
  • the evaluation module 50 can also be part of or integrate the processing module 11.
  • driver assistance system 10 is connected to various detection means/sensors 12 which detect the driving situation, i.e. the ego vehicle's environment, the vehicle status and driver behavior. These may be external detecting means, e.g.
  • visual sensors such as distance sensors, a camera 14, radar, and/or laser scanners, which detect/precept the exterior/environment of the vehicle.
  • This also may include internal sensors, e.g. a speed sensor 13 which detects the vehicle speed, acceleration and/or deceleration and conveys related information to the driver assistance system 10.
  • Internal sensors may also include internal cameras to observe the driver (not shown).
  • the data provided by sensors 12, 13, 14 is processed in processing module 11 and analyzed with access to a memory unit 15.
  • Parameters indicative of certain driving situations may be stored in memory unit 15. For example, minimum distances to obstacles in the vehicle's surroundings may be stored required in a parking situation, in particular.
  • driver assistance system 10 is provided with a powered steering control 16, e.g. an electronic power steering (EPS), via which an appropriate steering angle, predefined or determined by driver assistance system 10, may be set in a powered manner. The driver may correct this steering angle, set with the aid of power, by operating steering wheel 17.
  • EPS electronic power steering
  • driver assistance system 10 is also connected to a brake controller 18. Operation of brake pedal 19 carried out by the driver may be detected, but it is also possible for the vehicle brakes, which are connected to brake controller 18 and are not shown in Fig. 1 for the sake of clarity, to be automatically operated via the driver assistance system and brake controller 18.
  • the driver assistance system 10 may comprise further controllers, e.g. for actuating the gas pedal, the lights, the horn, etc.
  • the driver assistance system 10 can be connected to a speaker 20 and/or a display unit 21, for example, to also convey acoustical and/or visual information to the driver.
  • the driver assistance system 10 interprets the situation, e.g. a detected feature in the environment potentially having an impact on/influencing the vehicle's movement, a behavior of the driver and/or parameters indicative of vehicle functions and estimates the risk and/or utility by processing the obtained information, especially from the detecting means 12, 13, 14, and by evaluation of these processed information in the evaluation module 40.
  • the driver assistance system 10 then automatically carries out a "CarGesture", i.e. actuates the vehicle or a vehicle actuator 16, 18 in a specific way, in order to communicate with the driver and/or other traffic participants for improving the overall safety and comfort.
  • the actuation or gesture is hence a communicative act. It indicates to the driver (and/or potential other traffic participants) that a specific action might be beneficial in the current or a future situation. However, only an indication is intended, e.g. the actuating action that would need to be executed to fully address and resolve the situation is only executed partially, without carrying out the respective action calculated to be necessarily executed by the driver assistance system 10 fully by the vehicle.
  • a situation to be addressed by the driver assistance system 10 is when the vehicle is in a critical state or when a critical state occurs in the environment. On the basis of sensing output signals from sensing module 30, it is determined whether a critical state of the vehicle is to be expected in the future. This is facilitated by observing parameters, e.g.
  • a critical state typically is a state which influences the vehicle, e.g. its speed, trajectory (i.e. its path of travel), etc.
  • the driver can decide to accept and to continue with actively performing a intended maneuver indicated by the actuating action or to decline it by simply not following the intended maneuver.
  • the driver assistance system 10 preferably only once communicates the intended maneuver to the driver by directly actuating the vehicle or a vehicle actuator hereby proposing that the driver should control the vehicle in a specific way. But neither a full action, e.g. an object "avoidance" action, nor a continued supervision of the driver is performed after the actuation action by briefly, i.e. for a predetermined time, actuating or controlling the vehicle as determined advantageous by the driver assistance system 10. In particular, no additional mechanisms like steering wheel vibration or single brake control actuations are required.
  • the driver assistance system 10 can use a standard Electric Power Steering (EPS) with small angular patterns for the communication with the driver.
  • EPS Electric Power Steering
  • the invention proposes two concatenated trapeziodal shapes, one positive and the other symmetrically negative. After the gesture the original steering wheel angle is re-assumed. The magnitude of the trapezoids is a few degrees only.
  • the driver assistance system 10 can be as adapted to work as a virtual driving instructor gently and shortly pulling on the steering wheel, even shortly actuation a gas ore brake pedal.
  • Haptic information communicated to the driver e.g. via the steering wheel, such as vibrations
  • vibrations as a means for communication
  • the interpretation of which needs to be learned by the driver being at least in the beginning an additional mental effort
  • the driver already knows, what should be communicated and achieved by the actuation action.
  • a direction change of the vehicle without steering movements feels very unnatural to the driver.
  • the described "CarGestures" are very intuitive, since they already indicate in the correct modality what to do without using an additional human-machine interaction (HMI), like interaction by speech or visible messages.
  • HMI human-machine interaction
  • the feedback or the information conveyed to the driver according to the invention also has a haptic component, as the driver feels, e.g. a turn movement of the steering wheel.
  • haptic impression are known to the driver and do not need further interpretation.
  • CarGestures reduce the amount of information which needs to be processed by the driver and hence the time to process information is reduced. This increases overall safety, not only for the ego vehicle, but also for other traffic participants.
  • Using only a gesture i.e. a partially executed movement change command to modify the movement of the vehicle, the command executed in full would address a situation as determined by the driver assistance system 10), leading e.g. to a movement change, rather than an execution of a full maneuver is safer, since the physical impact of a slight movement is very low.
  • a partially executed movement change command typically is a vehicle actuation or control that only is performed for a short time period, e.g. 0.1 to 3 seconds, for a specific distance covered by the vehicle, e.g. 1 to 20 meters, or a specific offset from a current position, e.g. 5 to 10 cm, e.g. to the left, the front, the back, and/or the right. Yet the driver can still decide to carry out the full maneuver that might add a potential risk.
  • the time, distance, and/or offset might also be set in association with a current speed or a currently executed maneuver or driving action performed by the vehicle. Therefore, for example, these parameters might be different in an area with a low speed limit (e.g.
  • an action may be performed differently when the vehicle already performs a turn/acceleration/deceleration action.
  • a sensing module 30 perceives the world, i.e. the environment of the ego vehicle, the driver and/or the ego vehicle status using the detection means 12, 13, 14.
  • the situation is interpreted by the following interpretation module 40, which might employ processing 11 followed by an evaluation module 50 evaluating the risk and/or the utility of several movement change commands or driving options and selecting the best one, i.e. a number of possible movement change commands or driving options are first determined depended on a sensed situation by the sensing module 30, from which only one is finally executed.
  • Driving options in this case are different driving behaviors based on decisions rather than pure trajectory extrapolation. They are dynamically determined by the system based on predictions for the current situation. In the case of several options additional criteria like comfort or understandability by the environment are used for disambiguation.
  • One option for executing the selection is a ranking of the different determined movement change commands or driving options, which are evaluated to be suitable by the evaluation module 50 to address the situation, e.g. to deal with an occurrence of a feature, which influences motion of a vehicle.
  • a fitness function may be employed or a scoring function may be implemented assigning a score to suitable options. The option with the most significant score, e.g. lowest or highest, is then chosen as the movement change command to be executed.
  • a control module 60 finally carries out the corresponding vehicle actuation, i.e. the "CarGesture", indicating to the driver what the best option would be.
  • the actuation is limited in time and degrees of freedom of the action.
  • the driver assistance system 10 selects the best option in the situation but only carries out a gesture that indicates this option rather than carrying out the selected option fully.
  • the gesture is always short (i.e. shorter than the time for executing the respective full maneuver, usually less than 2 seconds), self-terminating and carried out in such a way that no additional risk is induced by this gesture. This is ensured by the situation interpretation and evaluation. They include a prediction of the consequences of the potential actions of the "CarGesture" and the human driver.
  • the vehicle actuation can be overridden at any time by the driver by action not being in alignment with the indicated action, e.g. by actuating the steering wheel, the brake or the accelerator pedal.
  • Overriding can mean accepting the proposal of the driver assistance system 10 by carrying out the correct trajectory under the control of the driver. But also, it can mean denying the proposal by following again the original trajectory.
  • Example 1 A car is driving in an inner city scenario.
  • the driver assistance system predicts by means of the predicting part of the situation interpretation and evaluation a potentially dangerous situation on the right side of the ego lane. It triggers a steering movement by means of an angular steering pattern that shifts the car 10cm to the left and does not apply any further control afterwards.
  • the driver feels the steering movement and the lateral acceleration and sees his car is slightly changing the trajectory.
  • the driver might accept this proposal by continuing to steer the vehicle to the left and carry out a full avoidance maneuver including a bigger shift than 10cm. This might include accepting the risk of moving into the opposing lane by the driver, something the system would have never done.
  • FIG. 4 Another example for a “CarGesture” is shown in Fig. 4 .
  • car B may start driving into the lane and would represent a risk.
  • the "CarGesture” proposes to keep a little more distance (solid line). This evaluation is based on the orientation of the vehicle and the predicted consequences. Car A does not trigger such kind of a reaction, as it represents no risk.
  • the thin black lines represent an exemplary field of view of the driver and/or perception means such as sensors (e.g. cameras, laser sensors, etc.) used to sense the environment and to determine potential risks.
  • the predictive steps of the invention are based on the perceived environment. They indicate how likely an object affects the vehicle, based on parameters such as object movement, trajectory, and/or acceleration. They also might indicate a degree of predicted influence the object has on the vehicle and based on this indication a "CarGesture" may be performed.
  • a “CarGesture” is a specific action for a specific situation which has a specific time duration. As long as the situation does not change, the decision of the driver is memorized and preferably no new "CarGesture” is triggered. That means that especially the (expected) time duration for executing the full movement change needs to be calculated by the driver assistance system 10 but also the decision of the driver is preferably memorized.
  • the "CarGestures” typically lead to small shifts of the vehicle (e.g. an offset of about 10cm from a current position), and have the following properties: They are noticeable to the driver, but the induced risk to the environment is small. Such small shifts are also almost unnoticeable to other traffic participants, i.e. such kind of a gesture is inward oriented. This kind of "CarGesture” does not irritate other traffic participants the carrying out frightening movements like moving in the opposite lane. Other gestures like slight steering to the right, braking or acceleration and/or a combination thereof are also possible candidates for vehicle actuations.
  • Example 2 Another example is the predictive stopping in front of the zebra crossing.
  • the system decelerates slightly in front of the zebra crossing in order to indicate to the driver that stopping would be a good option.
  • the communication is in the direction of the driver and the pedestrian waiting at the zebra crossing.
  • an overriding action by the driver with which the driver can supersede an action by the driver assistance system at any time, should have a higher threshold since the pedestrian may understand that the car is about to stop as indicate by the "CarGesture". This should only be overridden in very severe cases.
  • the driver assistance system 10 can hence store in memory 15 specific situations together with threshold values for these situations. Using the sensing output signals of the sensing module, the interpretation module 40 can then identify the situation and derive the corresponding threshold value. The interpretation module 40 can match the sensing output or perceived parameters to a stored situation. For example, in the above outlined scenario, the threshold associated with the matching situation will be high and so it will be harder to override the proposed movement command. However, the threshold can also be calculated dynamically out of parameters derived from the sensing output.
  • a decision requires measure and a threshold is one kind of evaluating a measure.
  • the threshold might depend on a detected driving character and a detected mood of the driver and on the evaluation of the overall situation including the vehicle status and other movement parameters.
  • Example 3 Another example is the predictive slowing down in order to let another car join our current lane in order to resolve a congestion created by this other car.
  • Example 4 Another example is the slowing down in order to let another car clear a crossing in order to resolve a congestion created by this other car.
  • the assistance system determining and performing the "CarGestures” can be coupled to other assistance systems, e.g. a collision avoidance system.
  • the "CarGestures” work on a preventive and communicative time scale, while a physical collision avoidance system would span a "safety net” underneath.
  • the "CarGesture” suggest a driving action to the driver, other assistance systems may be employed to finally prevent accidents.
  • the invention can also be applied in systems for ground, water and/or air bound vehicles, generally including systems designed to assist a human operator.
  • the method and system disclosed herein in general may be used whenever a technical (e.g., an electronic) system is required to autonomously deal with features occurring in a movement path observed and/or properties of objects (e.g., size, distance, relative/absolute position also to other objects, spatial alignment, relative movement, speed and/or direction and other related object features or feature patterns) which are presented to the system.
  • a technical e.g., an electronic
  • objects e.g., size, distance, relative/absolute position also to other objects, spatial alignment, relative movement, speed and/or direction and other related object features or feature patterns
  • the invention may use and include analysis means employing the processing module 11, 40 and/or apply neural networks, which can generally be used to infer functions from observations.
  • Neural networks allow working with none or only little a priori knowledge on a problem to be solved and also show a failure tolerant behavior. Problems that may be addressed relate, e.g., to feature identification, control (vehicle control, process control), decision making, machine vision and/or pattern recognition (facial recognition, object recognition, gesture recognition, speech recognition, character and text recognition), etc.
  • a neural network thereby consists of a set of neurons and a set of synapses. The synapses connect neurons and store information in parameters called weights, which are used in transformations performed by the neural network and learning processes.
  • an input signal or input pattern is accepted from the detection means 12, 13, 14, which is processed using a neural networks implemented and/or hardware units and software components.
  • An output signal or output pattern is obtained, which may serve as input to other systems for further processing, e.g. for visualization purposes.
  • the input signal which may also include information on detected features influencing movement, may be supplied by one or more sensors, e.g. the mentioned visual or acoustic detecting means 12, 13, 14, but also by a software or hardware interface.
  • the output pattern may as well be output through a software and/or hardware interface or may be transferred to another processing module 11 or actor, e.g. the powered steering control 16 or the brake controller 18, which may be used to influence the actions or behavior of the vehicle.
  • Computations and transformations required by the invention necessary for evaluation, processing, maintenance, adjustment, and also execution may be performed by a processing module 11 such as one or more processors (CPUs), signal processing units or other calculation, processing or computational hardware and/or software, which might also be adapted for parallel processing.
  • Processing and computations may be performed on standard off the shelf (OTS) hardware or specially designed hardware components.
  • a CPU of a processor may perform the calculations and may include a main memory (RAM, ROM), a control unit, and an arithmetic logic unit (ALU). It may also address a specialized graphic processor, which may provide dedicated memory and processing capabilities for handling the computations needed.
  • data memory is usually provided.
  • the data memory is used for storing information and/or data obtained, needed for processing, determination and results.
  • the stored information may be used by other processing means, units or modules required by the invention.
  • the memory also allows storing or memorizing observations related to events and knowledge deducted therefrom to influence actions and reactions for future events.
  • the memory may be provided by devices such as a hard disk (SSD, HDD), RAM and/or ROM, which may be supplemented by other (portable) memory media such as floppy disks, CD-ROMs, Tapes, USB drives, Smartcards, Pendrives etc.
  • SSD hard disk
  • ROM read-only memory
  • other (portable) memory media such as floppy disks, CD-ROMs, Tapes, USB drives, Smartcards, Pendrives etc.
  • a program encoding a method according to the invention as well as data acquired, processed, learned or needed in/for the application of the inventive system and/or method may be stored in a respective memory medium.
  • the method described by the invention may be provided as a software program product on a (e.g., portable) physical memory medium which may be used to transfer the program product to a processing system or a computing device in order to instruct the system or device to perform a method according to this invention.
  • the method may be directly implemented on a computing device or may be provided in combination with the computing device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Claims (11)

  1. Automatisiertes Fahrerassistenzverfahren, wobei das Verfahren eine künstliche Recheneinheit und einen oder mehrere Sensoren verwendet, wobei das Verfahren die folgenden Schritte umfasst:
    - Erfassen des Zustands eines Fahrzeugs und der Umgebung,
    - auf der Grundlage von Abtastsignalen, Bestimmen, ob ein kritischer Zustand des Fahrzeugs in der Zukunft zu erwarten ist,
    - Auswählen eines Bewegungsänderungsbefehls aus einer Anzahl von bestimmten Bewegungsänderungsbefehlen, einschließlich mindestens eines Lenk-, eines Brems- und eines Beschleunigungsbefehls, basierend auf einer Rangfolge der bestimmten Bewegungsänderungsbefehle, wenn ein kritischer Zustand des Fahrzeugs zu erwarten ist,
    - Bestimmen, abhängig von einer aktuellen Geschwindigkeit, eines aktuell ausgeführten Manövers oder einer vom Fahrzeug ausgeführten Fahraktion, eines Gesamtbetrags einer Aktivierung und einer Zeitdauer einer Aktivierung mindestens eines Fahrzeugstellglieds, die erforderlich ist, um das Auftreten des kritischen Zustands gemäß dem gewählten Bewegungsänderungsbefehl zu vermeiden, wobei die Aktivierung von einer Art ist, die vom Fahrer des Fahrzeugs z.B. akustisch, optisch und/oder haptisch wahrgenommen werden kann, und
    - teilweise, nicht vollständig, Durchführen der Aktivierung, d.h. für einen Teil des Betrags und/oder einen Teil der Zeitdauer des bestimmten Gesamtbetrags und der bestimmten Zeitdauer, wobei die Teilleistung nicht ausreicht, um das Auftreten des kritischen Zustands zu vermeiden.
  2. Verfahren nach Anspruch 1, wobei
    der kritische Zustand basierend auf einer Vorhersage und/oder Auswertung einer Vielzahl von Bewegungsänderungsparametem in den Sensorausgangssignalen als kritisch bestimmt wird, z.B. in Verbindung mit einem erfassten Merkmal im Fahrzeugzustand und/oder der von den Sensorsignalen abgeleiteten Umgebung, vorzugsweise in Verbindung mit einer Art des erfassten Merkmals.
  3. Verfahren nach Anspruch 1 oder 2, wobei
    die Aktivierung des mindestens einen Fahrzeugstellglieds durch Betätigen des mindestens einen Fahrzeugstellglieds für eine vorbestimmte Zeit gemäß einem von der Steuereinheit ausgeführten Bewegungsbefehl durchgeführt wird.
  4. Verfahren nach einem der vorhergehenden Ansprüche, wobei
    die Aktivierung auf der Grundlage einer Risiko- und/oder Nutzenanalyse der Auswirkungen des Merkmals auf die Bewegung des Fahrzeugs erfolgt.
  5. Verfahren nach einem der vorhergehenden Ansprüche,
    der Bewegungsänderungsbefehl ohne oder zusätzlich zu mindestens einer visuellen, akustischen oder haptischen Kommunikation/Feedback/Information an den Fahrzeugführer ausgeführt wird.
  6. Verfahren nach einem der vorhergehenden Ansprüche, wobei das mindestens eine Fahrzeugstellglied mindestens eine Lenk-, eine Verzögerungs- oder eine Beschleunigungsaktion des Fahrzeugs ausführt, wenn es aktiviert ist.
  7. Verfahren nach einem der vorhergehenden Ansprüche, wobei die Ausführung des Bewegungsänderungsbefehls gestoppt wird, wenn ein Befehl vom Fahrzeugführer empfangen wird, z.B. eine Lenk-, Brems- und/oder Beschleunigungsaktion, insbesondere, wenn sie nicht der von dem mindestens einen Fahrzeugstellglied ausgeführten Aktion entspricht.
  8. Fahrerassistenzsystem, umfassend
    - ein Sensormodul (30), das konfiguriert ist, um den Zustand eines Fahrzeugs zu erfassen und die Umgebungssensorsignale auszugeben,
    - ein Interpretationsmodul (40), das konfiguriert ist, um die Sensorausgangssignale zu verarbeiten, indem es auf der Grundlage von Sensorausgangssignalen bestimmt, ob ein kritischer Zustand des Fahrzeugs in der Zukunft zu erwarten ist, und einen Bewegungsänderungsbefehl aus einer Reihe von bestimmten Bewegungsänderungsbefehlen, einschließlich mindestens eines Lenk-, Brems- und Beschleunigungsbefehls, basierend auf einer Rangfolge der bestimmten Bewegungsänderungsbefehle auswählt, wenn ein kritischer Zustand des Fahrzeugs zu erwarten ist,
    - ein Auswertemodul (50), das konfiguriert ist, um abhängig von einer aktuellen Geschwindigkeit ein aktuell ausgeführtes Manöver oder eine vom Fahrzeug ausgeführte Fahraktion, einen Gesamtbetrag einer Aktivierung und eine Zeitdauer einer Aktivierung mindestens eines Fahrzeugstellglieds zu bestimmen, die erforderlich sind, um das Auftreten des kritischen Zustands gemäß dem ausgewählten Bewegungsänderungsbefehl zu vermeiden, wobei die Aktivierung von einer Art ist, die vom Fahrer des Fahrzeugs erfasst werden kann,
    - ein Steuermodul (60), das konfiguriert ist, um ein Steuersignal auszugeben, um das Stellglied teilweise, nicht vollständig, die Aktivierung durchführen zu lassen, d.h. für einen Teil des Betrags und/oder einen Teil der bestimmten Zeitdauer des Gesamtbetrags und der Zeitdauer, wobei die Teilleistung nicht ausreichend ist, um das Auftreten des kritischen Zustands zu vermeiden.
  9. System nach Anspruch 8, worin das Abtastmodul mindestens eine Kamera, einen Laserscanner, einen Radarsensor, einen Beschleunigungs-/Verzögerungssensor, einen Abstandssensor oder einem Geschwindigkeitssensor umfasst.
  10. Fahrerassistenzsystem, das programmiert ist, um ein Verfahren nach einem der Ansprüche 1 bis 7 durchzuführen.
  11. Fahrzeug, umfassend ein System nach Anspruch 8 bis 10.
EP12197638.5A 2012-12-18 2012-12-18 Fahrerassistenzsystem Not-in-force EP2746126B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP12197638.5A EP2746126B1 (de) 2012-12-18 2012-12-18 Fahrerassistenzsystem
JP2013241538A JP5792267B2 (ja) 2012-12-18 2013-11-22 運転者支援システム
US14/098,642 US9446729B2 (en) 2012-12-18 2013-12-06 Driver assistance system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12197638.5A EP2746126B1 (de) 2012-12-18 2012-12-18 Fahrerassistenzsystem

Publications (2)

Publication Number Publication Date
EP2746126A1 EP2746126A1 (de) 2014-06-25
EP2746126B1 true EP2746126B1 (de) 2019-04-10

Family

ID=47631187

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12197638.5A Not-in-force EP2746126B1 (de) 2012-12-18 2012-12-18 Fahrerassistenzsystem

Country Status (3)

Country Link
US (1) US9446729B2 (de)
EP (1) EP2746126B1 (de)
JP (1) JP5792267B2 (de)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9238467B1 (en) * 2013-12-20 2016-01-19 Lytx, Inc. Automatic engagement of a driver assistance system
DE102014019130A1 (de) * 2014-12-19 2016-06-23 Audi Ag Vorrichtung und Verfahren zur haptischen Navigationsunterstützung eines Fahrers eines Fahrzeugs
US10031522B2 (en) 2015-05-27 2018-07-24 Dov Moran Alerting predicted accidents between driverless cars
US9598078B2 (en) 2015-05-27 2017-03-21 Dov Moran Alerting predicted accidents between driverless cars
DE102016210848A1 (de) * 2015-07-06 2017-01-12 Ford Global Technologies, Llc Verfahren zur Vermeidung einer Kollision eines Fahrzeuges mit einem Objekt, sowie Fahrassistenzsystem
JP6465127B2 (ja) * 2016-02-10 2019-02-06 株式会社デンソー 走行支援装置
DE102016005730A1 (de) * 2016-05-10 2017-11-16 Audi Ag Verfahren zur Auswertung von Umfelddaten in einem Steuergerät eines Kraftfahrzeugs, Steuergerät und Kraftfahrzeug
US11347964B2 (en) * 2017-08-07 2022-05-31 Renesas Electronics Corporation Hardware circuit
US10739776B2 (en) * 2017-10-12 2020-08-11 Honda Motor Co., Ltd. Autonomous vehicle policy generation
US11718303B2 (en) 2018-01-03 2023-08-08 Toyota Research Institute, Inc. Vehicles and methods for building vehicle profiles based on reactions created by surrounding vehicles
US10843703B2 (en) * 2018-01-31 2020-11-24 Toyota Jidosha Kabushiki Kaisha Accuracy system for connected vehicles
US10839263B2 (en) * 2018-10-10 2020-11-17 Harman International Industries, Incorporated System and method for evaluating a trained vehicle data set familiarity of a driver assitance system
EP3730373A1 (de) * 2019-04-26 2020-10-28 Zenuity AB Verfahren zur steuerung von fahrzeugsystemen und fahrzeugsteuervorrichtung
US11138870B1 (en) * 2020-07-22 2021-10-05 International Business Machines Corporation On-demand roadway crossing
CN113808394B (zh) * 2021-08-27 2022-09-30 东南大学 一种基于风险组合模式的过街通道安全评价方法
CN114735010B (zh) * 2022-05-17 2022-12-13 中南大学 基于情绪识别的智能车辆行驶控制方法、***及存储介质

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19916267A1 (de) 1999-04-12 2000-10-19 Continental Teves Ag & Co Ohg Verfahren und Vorrichtung zum Überwachen oder zum Beeinflussen der Bewegung eines Fahrzeugs auf einem Weg
DE10036276A1 (de) * 2000-07-26 2002-02-07 Daimler Chrysler Ag Automatisches Brems- und Lenksystem für ein Fahrzeug
EP1285842B1 (de) 2001-08-23 2008-05-28 Nissan Motor Co., Ltd. Fahrassistenzsystem
JP3617501B2 (ja) 2002-03-18 2005-02-09 日産自動車株式会社 車両用減速補助装置
JP4232602B2 (ja) * 2003-10-23 2009-03-04 日産自動車株式会社 車両用運転操作補助装置および車両用運転操作補助装置を備えた車両
DE10356309A1 (de) 2003-11-28 2005-06-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Warnung des Fahrers eines Kraftfahrzeugs
DE102004051963A1 (de) 2004-10-25 2006-05-04 Robert Bosch Gmbh Verfahren zur Fahrerunterstützung
US7363135B2 (en) 2006-06-27 2008-04-22 Gm Global Technology Operations, Inc. Steering haptic feedback system for vehicle active safety
DE102006042666A1 (de) * 2006-09-12 2008-03-27 Robert Bosch Gmbh Verfahren zur Vermeidung bzw. Folgenminderung der Kollision eines Fahrzeugs mit mindestens einem Objekt
JP2008168784A (ja) * 2007-01-11 2008-07-24 Fuji Heavy Ind Ltd 車両の走行制御装置
DE102007060862B4 (de) * 2007-12-18 2021-08-12 Man Truck & Bus Se Notbremsassistenzsystem
US8463502B2 (en) * 2008-06-18 2013-06-11 Daimler Ag Motor vehicle and braking process
DE102009047333A1 (de) * 2009-12-01 2011-06-09 Robert Bosch Gmbh Verfahren zur Bestimmung einer Trajektorie eines Fahrzeugs
DE102010002105A1 (de) * 2010-02-18 2011-08-18 Robert Bosch GmbH, 70469 Verfahren zur Unterstützung eines Fahrers eines Fahrzeugs bei einem Fahrmanöver
JP5577126B2 (ja) * 2010-03-24 2014-08-20 トヨタ自動車株式会社 走行支援装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
JP5792267B2 (ja) 2015-10-07
JP2014120158A (ja) 2014-06-30
US20140172226A1 (en) 2014-06-19
US9446729B2 (en) 2016-09-20
EP2746126A1 (de) 2014-06-25

Similar Documents

Publication Publication Date Title
EP2746126B1 (de) Fahrerassistenzsystem
US11787408B2 (en) System and method for controlling vehicle based on condition of driver
US11866036B2 (en) Driver assistance system for a motor vehicle, motor vehicle and method for operating a motor vehicle
EP3254919B1 (de) Adaptive geschwindigkeitsregelung und fahrzeug mit adaptiver geschwindigkeitsregelung
US10457277B2 (en) Driver assistance system
US9081387B2 (en) Method and device for the prediction and adaptation of movement trajectories of motor vehicles
US8589060B2 (en) Method for automatically controlling a vehicle
EP2671768B1 (de) Steuerungsvorrichtung für ein fahrzeug
US20100131148A1 (en) System and method for estimated driver intention for driver assistance system control
CN106994968A (zh) 自动车辆控制***和方法
US11407427B2 (en) Driving control apparatus for vehicle
CN109572690B (zh) 车辆控制装置
JP6267275B2 (ja) 自動運転制御能力を有する車両を制御するための方法および装置
JP7158352B2 (ja) 運転支援装置、車両の制御方法、およびプログラム
CN114502442B (zh) 用于运行车辆的方法
EP3725609B1 (de) Verfahren zum kalibrieren von fahrzeugantikollisionsparametern, fahrzeugsteuergerät und speichermedium
KR20150051548A (ko) 운전자의 성향을 반영하는 운전보조시스템 및 그 제어방법
CN115362095A (zh) 用于运行车辆的驾驶员辅助***的具有针对部分自动化功能的驾驶员节制的方法、驾驶员辅助***和车辆
CN116135660A (zh) 基于监控的驾驶员行为管理自动驾驶车辆的驾驶员接管的***和方法
KR20210031128A (ko) 운전자 보조 장치 및 그 제어 방법
US20230141439A1 (en) Driver controlling system for a vehicle
Acarman et al. A control authority transition system for collision and accident avoidance
JP6390665B2 (ja) 車両制御装置
CN117062740A (zh) 辅助***的运行方法及辅助***
CN111391827B (zh) 车辆控制装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20131115

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20170530

RIC1 Information provided on ipc code assigned before grant

Ipc: B60W 30/095 20120101ALI20180727BHEP

Ipc: B60W 50/16 20120101ALN20180727BHEP

Ipc: B60W 30/09 20120101ALI20180727BHEP

Ipc: B60T 7/22 20060101ALI20180727BHEP

Ipc: B60W 50/00 20060101AFI20180727BHEP

RIC1 Information provided on ipc code assigned before grant

Ipc: B60T 7/22 20060101ALI20180904BHEP

Ipc: B60W 30/09 20120101ALI20180904BHEP

Ipc: B60W 30/095 20120101ALI20180904BHEP

Ipc: B60W 50/00 20060101AFI20180904BHEP

Ipc: B60W 50/16 20120101ALN20180904BHEP

RIC1 Information provided on ipc code assigned before grant

Ipc: B60W 30/09 20120101ALI20180921BHEP

Ipc: B60T 7/22 20060101ALI20180921BHEP

Ipc: B60W 50/16 20120101ALN20180921BHEP

Ipc: B60W 30/095 20120101ALI20180921BHEP

Ipc: B60W 50/00 20060101AFI20180921BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: B60T 7/22 20060101ALI20181029BHEP

Ipc: B60W 50/16 20120101ALN20181029BHEP

Ipc: B60W 30/095 20120101ALI20181029BHEP

Ipc: B60W 50/00 20060101AFI20181029BHEP

Ipc: B60W 30/09 20120101ALI20181029BHEP

INTG Intention to grant announced

Effective date: 20181119

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

REG Reference to a national code

Ref country code: DE

Ref legal event code: R084

Ref document number: 602012058777

Country of ref document: DE

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 1118263

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190415

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602012058777

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20190410

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1118263

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190410

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190910

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190711

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190810

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602012058777

Country of ref document: DE

REG Reference to a national code

Ref country code: GB

Ref legal event code: 746

Effective date: 20200106

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

26N No opposition filed

Effective date: 20200113

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20191231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191218

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191218

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191231

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191231

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20121218

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20211220

Year of fee payment: 10

Ref country code: GB

Payment date: 20211222

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20211227

Year of fee payment: 10

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190410

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602012058777

Country of ref document: DE

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20221218

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20221218

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230701

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20221231